Embodiments of the present invention reduce noise and residual vibration during random access operation of a magnetic disk drive. The magnetic disk drive which executes each instruction from an upper device to move a magnetic head from a start track to an end track on a magnetic disk. In one embodiment, the magnetic disk comprises a processor configured, if a seek span from the start track to the end track, according to a seeking instruction from the upper device, is equal to a preset specific length, to store the seeking instruction for the specific length in memory, and to seek an alternative position from the start track for moving the magnetic head and then seek the end track specified in the stored seeking instruction from the alternative position for moving the magnetic head.

 
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> Feedforward controller and methods for use therewith

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